Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an initial to goal configuration, and outputs a sequence of actions that can reproduce the human demonstration, using only monocular images as input. To perform this task, the robot learns a pixel-level inverse dynamics model of rope manipulation directly from images in a self-supervised manner, using about 60K interactions with the rope collected autonomously by the robot. The human demonstration provides a high-level plan of what to do and the low-level inverse model is used to execute the plan. We show that by combining the high and low-level plans, the robot can successfully manipulate a rope into a variety of target shapes using only a sequence of human-provided images for direction.Comment: 8 pages, accepted to International Conference on Robotics and Automation (ICRA) 201

Image-guided Placement of Magnetic Neuroparticles as a Potential High-Resolution Brain-Machine Interface

We are developing methods of noninvasively delivering magnetic neuroparticles™ via intranasal administration followed by image-guided magnetic propulsion to selected locations in the brain. Once placed, the particles can activate neurons via vibrational motion or magnetoelectric stimulation. Similar particles might be used to read out neuronal electrical pulses via spintronic or liquid-crystal magnetic interactions, for fast bidirectional brain-machine interface. We have shown that particles containing liquid crystals can be read out with magnetic resonance imaging (MRI) using embedded magnetic nanoparticles and that the signal is visible even for voltages comparable to physiological characteristics. Such particles can be moved within the brain (e.g., across midline) without causing changes to neurological firing

Propranolol therapy in a case of capillary hemangioma

Capillary hemangioma is one the most common tumors of eyelid and orbit reported in pediatric age group. Oral propranolol therapy is latest addition to the armamentarium of treatment options available to ophthalmologists in treating capillary hemangiomas. We report the successful response to propranolol therapy to a 5-year-old child with capillary hemangioma involving lids, orbit, and the paranasal sinuses. A long-term follow-up is necessary for the prognostic efficacy of the therapy

Assessment of risk factors for readmission in COPD patients at tertiary care centre RMCH Bareilly

COPD is currently one of the top 3 causes of death in the world with high morbidity and mortality. Various studies showed if symptoms of COPD patients are not well controlled then chances of admission & readmission has been increased. To find reasons for readmission in such patients this study was conducted. Between January 2020 and December 2021, we prospectively evaluated all the patients who were readmitted for acute exacerbation of COPD at tertiary care hospital RMCH Bareilly. Total 119 patients were enrolled in our study. Among 119 patients 25(21.0%) patients were readmitted for acute exacerbation of COPD. Patients discharged on LTOT among them 16(64.0%) were readmitted. Sputum culture among readmitted patients showed pseudomonal growth in 10(40.0%) as important risk factor. Common Comorbidities observed as diabetes mellitus 8(32.0%), hypertension 6(24%) of readmitted patients. Duration of hospital stay on previous visit of more than 6 days was observed in 12(48.0%) of readmitted patients. Average duration of hospital stays was 7+/-3 days. We found that there are multiple factors contribute to the risk of readmission in COPD patients. Risks can be minimised by ensuring regular follow up and proper adherence to the treatment, proper nutrition and pulmonary rehabilitation